User Guide

CleverAx
Single-Axis Motion Controller
 Safety Information General Information
The manufacturer accepts no liability for any
Persons supervising and performing the electrical
consequences resulting from inappropriate, negligent or
installation or maintenance of a Drive and/or its external
incorrect installation or adjustment of the optional
Option Unit must be suitably qualified and competent in
operating parameters of the equipment or from
these duties. They should be given the opportunity to
mismatching the Drive with the motor.
study and if necessary to discuss this User Guide before
work is started. The contents of this User Guide are believed to be
correct at the time of printing. In the interests of a
The voltages present in the Drive and external Option
commitment to a policy of continuous development and
Units are capable of inflicting a severe electric shock and
improvement, the manufacturer reserves the right to
may be lethal. The Stop function of the Drive does not
change the specification of the product or its
remove dangerous voltages from the terminals of the
performance, or the contents of the User Guide, without
Drive and external Option Unit. AC supplies should be
notice.
removed before any servicing work is performed.
All rights reserved. No part of this User Guide may be
The installation instructions should be adhered to. Any
reproduced or transmitted in any form or by any means,
questions or doubt should be referred to the supplier of the
electrical or mechanical including photocopying,
equipment. It is the responsibility of the owner or user to
recording or by any information storage or retrieval
ensure that the installation of the Drive and external Option
system, without permission in writing from the
Unit, and the way in which they are operated and maintained
publisher.
complies with the requirements of the Health and Safety at
Work Act in the United Kingdom and applicable legislation Copyright © November 1995
and regulations and codes of practice in the country in Control Techniques Drives Ltd
which the equipment is used.
Author: U79
The Drive software may incorporate an optional Auto- Part Number: 0400-0003
start facility. In order to prevent the risk of injury to
personnel working on or near the motor or its driven Issue Code: CXNU1
equipment and to prevent potential damage to Issue Date: November 1995
equipment, users and operators, all necessary
precautions must be taken if operating the Drive in this
mode.
The Stop and Start inputs of the Drive should not be relied
upon to ensure safety of personnel. If a safety hazard could
exist from unexpected starting of the Drive, an interlock
that electrically isolates the Drive from the AC supply should
be installed to prevent the motor being inadvertently
started.
 7 Diagnostics 7-1
Contents
8 Configuring CleverAx 8-1
1 Description 1-1 8.1 Position loop 8-1
1.1 Main features 1-1 8.2 Manual or internal speed
1.2 Inputs and outputs 1-1 reference selection (Speed mode) 8-1
1.3 Software tools 1-1 8.3 Internal position reference 8-2
1.4 Control functions 1-2 8.4 Digital Lock 8-3
8.5 Digital Lock trigger and
2 Data 2-1 Slave Index detection 8-4
3 Mechanical Installation 3-1 8.6 Speed and position
offset management 8-5
4 Electrical Installation 4-1 8.7 Electronic cam 8-6
4.1 Connections 4-1 8.8 PID and position loop 8-7

5 Parameters 5-1 9 Software Tools 9-1

5.1 PLC module 5-1 9.1 Terminal Emulation mode —
command syntax 9-1
5.2 Serial Link module 5-4
9.2 PLC program instruction syntax 9-1
5.3 Motion module 5-5
9.3 How to use the CDT program 9-2
6 Commissioning 6-1 9.4 How to use the CMT program 9-3
6.1 Offset adjustment 6-1
6.2 Reset 6-1
10 PID Algorithms 10-1
6.3 Recall default status 6-1 11 Applications 11-1
6.4 Serial ports 6-1 11.1 Linear Positioner with
6.5 Start-up procedure 6-2 Auto Learning 11-1
6.6 Editing a PLC program 6-2 11.2 Digital lock 11-10
11.3 Digital lock using the serial link 11-19
 1.2 Inputs and outputs
1 Description
• Differential 14-bit analog output for the
Drive speed reference.
• Differential analog general-purpose 14-bit
1.1 Main features outputs.
• Two differential analog general-purpose
CleverAx is a programmable, closed-loop position
10-bit inputs.
controller having the following control features:
• 15 general purpose digital inputs.
• Position control with trapezoidal profiling, • Three high-speed digital inputs.
or acceleration and deceleration S-ramps
• Seven digital general purpose outputs.
• Digital lock with variable ratio and trigger
programming • Two encoder interfaces (Master and Slave).
• Electronic cam • Two standard serial ports (RS232C and
RS485). The RS232 serial port allows the
• Use of ladder diagram (PLC type)
board to be connected to a PC for creating
programming language programs and setting parameters.
• Eurocard format
• 24VDC supply 1.3 Software tools
The control system consists of the following • Terminal emulator software
three modules:
• Full-screen editor
• PLC module • Compiler
• Motion module • Debugger
• Serial Link module • Download function to download the
Software parameters are used to configure the program to the CleverAx card
control system. • Save command to store the program on a PC
disk
The internal interface meets the requirements of
• Load command to load the desired program
standard applications.
from a PC disk

PLC I/O O.E.M.

Thumbwheel Exp. intelligent
switch card

RS232c

Host PC 0 1 2 3

RS485 4 5 6 7
8 9 A B
C D E F
CleverAx
Sensor
Console

Enclosure
Master
Encoder

Encoder Motor
Drive

Figure 1–1 Control System using the CleverAx card

CleverAx 1-1
1.4 Control functions Digital Lock
Digital Lock allows the Drive to be synchronized in
Position loop speed and phase with the master axis, using a master
encoder as reference. A reduction ratio is
Position loop control can be carried out in either of programmable between –2 and +2, with a
the following ways: resolution of 9 decimal places.
Proportional and integral with feed-forward
control The controlled axis can be locked by the following:
Proportional, integral and differential control A digital input signal
The master encoder index
The card controls the Drive using the torque or
speed input of the Drive. The master encoder index masked from a
digital input

Position control Other configurations can be created using a PLC

program.
The axis position is controlled using trapezoidal or
When the slave axis is locked, it is possible to add a
S-ramp speed profiles. The acceleration and
position or speed offset.
deceleration ramps are programmable.

The following functions are avalaible: Electronic cam

Homing Using a look-up table, it is possible to define the
Position counter freeze position of the controlled axis in relation to the
Compare axis with 4 stored positions position of the master axis. The electronic cam is
End profiling flag enabled by a START command and stops when the
Servo error last position is reached in the table or when a STOP
command is given.
Electric hand-wheel
Different cam profiles can be programmed up to a
limit defined by the available memory.

Analog input PLC module Analog

output

Digital
Digital input output

Special RS232
function interface

RS485
FF interface
Position Reference
loop control switch

Position PI Speed
controller demand

Digital
lock

Electronic
cam

Encoder 1 Feedback
control

Encoder 2

Figure 1–2 CleverAx Control system

1-2 CleverAx
 Serial interface
2 Data Standard RS232C and RS485

Max encoder frequency

Supply voltage 120kHz (before internal multiplication by 4)
24VDC ±25%
Encoder interface
Maximum current demand Standard RS422
CleverAx card: 250 mA
Main encoder: 250 mA High speed counter (P71 and P72)
Auxiliary encoder: 250 mA Max input frequency: 5kHz
Logic output: 100 mA
Protection
(for each output)
Analog output: 2 mA Short-circuit protection of logic outputs
Short-circuit of auxiliary voltage outputs
Operating temperature
Dimensions
0°C to +45°C (32°F to 113°F)
Single Eurocard
Speed reference output
CPU
±10V differential (14-bit equivalent)
Processor: 80C166
Analog output Clock frequency: 40MHz
±10V differential (14-bit equivalent) RAM: 8kB
Impedance: < 100Ω EPROM: 32kB
EEPROM: 8kB
Analog input
±10V differential (10-bit equivalent) Watchdog
Logic output A Fault output signal produced when processor
error occurs
+24V, 100mA

Logic input impedance Memory map

15kΩ Address Description

Range of analog inputs H0000 to H7FFF Firmware EPROM

±10V H8000 to H9FFF Monitor

(H9000 to H9FFF – expansion)
Drive enable output at low level HA000 to HBFFF RAM
0V HC000 to HF9FF EEPROM
HFA00 to HFFFF Microprocessor registers
Drive enable output at high level
(HFA00 to HFDFF –
24V system stack)

CleverAx 2-1
Control modules PLC module
Motion module Function Description
PLC module
Constant scanning The time between scanning
Serial link cycles can be adjusted
Each module uses a set of parameters. The Programming Relay logic
parameters are organized in logical areas as shown method
in the following table. Type of control Cyclical operation
Program memory Internal EEPROM
Parameter map Maximum number of 999
instructions
Parameters Description Instruction type High and low level instructions
Number of inputs 19
P1 to P49 Motion parameters Number of outputs 8
Number of internal 224
P50 to P73 PLC special register and relays
PLC flags
Number of special 96
internal relays (P31
P31, P32 and P73)
P73
P74 to P81 Serial link parameters
Number of timers 6
Number of counters 3
P84 to P128 User parameters
Number of data 46
registers (from P82 to P128)
P128
Parameter loading and saving Number of special 25
registers (all PLC and LINK parameters)
Parameters Description Load Save
bit bit Number of Motion 49
parameters
P11 to P30 Motion module Auto P73.12
Number of index 1
parameters
registers (P80
P80)
P32 to P49
Number of labels 100
P73.10 PLC module flag Auto P73.12
parameters
P73.11
P74 Link module Auto P73.12
parameters
P100 to P128 User parameters P73.19 P73.18

2-2 CleverAx
3 Mechanical Installation
Insert the CleverAx card in a slot of a standard 19"
rack, or panel-mount the card using a standard card
holder having screw terminals.

Dimensions mm in
15
Internal width a 100 3 /16
1
Height b 191 7 /2
11
Height of pillars c 144 5 /16
3
External width d 132 5 /16

Figure 3–1 Dimensions of the standard

card holder

CleverAx 3-1
 Connector side A
4 Electrical Installation Pin Function Typ Description
No e
1a Speed reference 0 Speed reference output
4.1 Connections (non inverting) signal applied to the Drive
2a Speed reference 0
(inverting)
3a AUX analog 0 Auxiliary analog output
output
(non inverting)
4a AUX analog 0
output
(inverting)
5a GND Ground
6a +A0 I Analog input 0
(non inverting)
7a –A0 I Analog input 0
(inverting)
8a +A1 I Analog input 1
(non inverting)
9a –A1 I Analog input 1
(inverting)
10a RLB Line receiver load resistor
11a RLA
12a RX I Serial communications line
receiver
Figure 4–1 Locations of the connectors 13a RX I Serial communications line
receiver (inverting input)
14a TX 0 Serial communications line
transmitter
15a TX 0 Serial communications line
transmitter (inverting
output)
16a +5V 0 Master encoder power
supply
17a GND Ground
18a +PhA2 I Master encoder phase A
19a –PhA2 I
20a +PhB2 I Master encoder phase B
21a –PhB2 I
22a +PhC2 I Master encoder phase C
23a –PhC2 I
24a +5V 0 Slave encoder power
supply
25a GND Ground
26a +PhA1 I Slave encoder phase A
27a –PhA1 I
28a +PhB1 I Slave encoder phase B
29a –PhB1 I
30a +PhC1 I Slave encoder phase C
31a –PhC1 I
32a +24V I CleverAx power supply

CleverAx 4-1
Connector side C
Pin No Function Typ Description
e
1c OUT 1 0 General purpose output
2c OUT 2 0 General purpose output
3c OUT 3 0 General purpose output
4c OUT 4 0 General purpose output
5c OUT 5 0 General purpose output
6c Servo enable 0 Enable the controlled
servodrive
7c OUT 7 0 General purpose output
8c OUT 8 0 General purpose output
9c GND Ground
10c +24V 0 Internally connected to the
power supply
11c IN 1 I General purpose input
12c IN 2 I General purpose input
13c IN 3 I General purpose input
14c IN 4 I General purpose input
15c IN 5 I General purpose input
16c IN 6 I General purpose input
17c IN 7 I General purpose input
18c IN 8 I General purpose input
19c External I Digital lock external trigger
trigger
20c Store Slave I Freeze Slave position and
position high speed counter P72
21c Store Master I Freeze Master position and
position high speed counter P71
22c IN 12 I General purpose input
23c IN 13 I General purpose input
24c IN 14 I General purpose input
25c IN 15 I General purpose input
26c IN 16 I General purpose input
27c IN 17 I General purpose input
28c IN 18 I General purpose input
29c CleverAx I CleverAx enable signal
ENABLE
30c GND Ground
31c FAULT 0 Fault monitor terminal
32c GND Ground

4-2 CleverAx
 Master
encoder

Slave
encoder

Servodrive

Figure 4–2 Signal connections

CleverAx 4-3
 PLC instructions
5 Parameters (ladder diagram program)
Mnemonic Syntax Description

5.1 PLC module LD LD Puts on the top of the stack the

(LOAD) P32.1 specified bit (bit 1 of P32)
P32
The CleverAx card contains a complete PLC module. OUT OUT The content of the top of the
This module is programmable using relay logic and (OUTPUT) P32.5 stack is loaded in the specified
communicates with the Motion module using a bit
parameter-based interface. (bit 5 of P32)
P32
AND AND Performs a logic AND between
CDT (CleverAx Development Tool) software runs on (LOGIC AND) P31.1 the stack and the specified bit
a PC. The PC is connected to the CleverAx card (stack AND bit 1 of P31)
P31
using a RS232 serial link, allowing the user to OR OR Performs a logic OR between
perform the following: (LOGIC OR) P31.1 the stack and the specified bit
Read and write parameter values (stack OR bit 1 of P31)
Download and debug programs LDN LDN Puts on the top of the stack and
(LOAD NOT) P31.1 inverts the specified bit
Examples of program listings are given in Chapter 11 (bit 1 of P32 inverted)
Applications.
OUTN OUTN The content of the top of the
(OUTPUT NOT) P31.1 stack is negated and loaded in
PLC module specification the specified bit
(NOT stack in bit 5 of P32)
P32
Function Description ANDN ANDN Performs a logic AND between
Constant scanning The time between scanning (AND NOT) P31.1 the stack and the specified bit
cycles can be adjusted negated (stack and NOT bit 1
of P31)
P31
Programming Relay logic
method ORN ORN Performs a logic OR between
(OR NOT) P31.1 the stack and the specified bit
Type of control Cyclical operation negated. (stack OR NOT bit 1
Program memory Internal EEPROM of P31)
P31

Maximum number of 999 ADDW (ADDING ADDW P1 = P2 + P3

instructions WORD) P1 P2 P3

Instruction type High and low level instructions SUBW SUBW P1 = P2 – P3

(SUBTRACT P1 P2 P3
Number of inputs 19 WORD)
Number of outputs 8 MULW MULW P1 = P2 × P3
Number of internal 224 (MULTIPLY WORD) P1 P2 P3
relays DIVW DIVW P1 = P2 ÷ P3
Number of special 96 (DIVIDE WORD) P1 P2 P3
internal relays (P31
P31, P32 and P73)
P73 ORW ORW P1 = P2 OR P3
Number of timers 6 (LOGIC OR P1 P2 P3
WORD)
Number of counters 3
ANDW ANDW P1 = P2 AND P3
Number of data 46 (LOGIC AND P1 P2 P3
registers (from P82 to P128)
P128 WORD)
Number of special 25 XORW XORW P1 = P2 XOR P3
registers (all PLC and LINK parameters) (LOGIC XOR P1 P2 P3
Number of Motion 49 WORD}
parameters COMW COMW P2 = complement bit to bit of
Number of index 1 (COMPLEMENT P2 P3 P3
registers (P80
P80) WORD)

Number of labels 100 LSHW LSHW P2 = Left Shift of P3

(LOGIC LEFT P2 P3
SHIFT WORD)

CleverAx 5-1
 Mnemonic Syntax Description Mnemonic Syntax Description
RSHW RSHW P2 = Right Shift of P3 WRMEM WMEM Writes P8 value into the
(LOGIC RIGHT P2 P3 (Write Expansion ) P8,(512)
P8 Expansion port address
SHIFT WORD) Direct (512)
addressing
MOVW MOVW Load immediate
(MOVE WORD) P8 (P8
P8 = 200000) [Address range WMEM Writes P8 value at
200000 1 to 1024] P8,P100
P8 Expansion port addressed
Indirect by P100 content
JUMP JUMP TEST Unconditioned jump to
addressing
label (test)
RDPAR (Read RDPAR Reads the address (13)
START START Divides the area for cam
parameter area) P8,(13)
P8 content and store it in P8
co-ordinates from the
Direct eg. if P13 = 255, then P8 =
ladder diagram program
addressing 255
XY= XY=10,10 Cam co-ordinates
[Address range RDPAR Reads the parameter value
BREAK BREAK Divides different cam table 1 to 128] P8,P100
P8 at the address specified by
END END Defines the end of the Indirect P100 and stores it in P8.
P8
(END PLC program addressing eg. if P100 = 13 and P13 =
PROGRAM) 255, then P8 = 255
ANDST ANDST Logic AND between stack RDPLC RDPLC Reads the PLC area address
(LOGIC AND) operands (Read PLC area) P8,(200)
P8 (200) content and stores
ORST ORST Logic OR between stack Direct it in P8
(LOGIC OR) operands addressing eg. if PLC instruction
SET SET P32.0 Set bit 1 in P32 at 1 if stack number 200 = 255, then
(SET BIT) is true P8 = 255

RES RES P32.1 Set bit 1 in P32 at 0 if stack [Address range RDPLC Reads the PLC area address
(RESET BIT) is true 1 to 999] P8,P100
P8 specified by the P100
Indirect content and stores it in P8.
P8
WRPAR WPAR Writes P8 value into addressing
(Write in P8,(13)
P8 parameter area address 13 eg. if P100 = 200
parameter area) Direct and PLC instruction
eg. if P8 = 128, number 200 = 255,
addressing then P13 = 128 then P8 = 255
[Address range WPAR Writes P8 value into RDMEM RDMEM Reads the Expansion port
1 to 128] P8,P100 parameter area at the (Read Expansion) P8,(512)
P8 address (512) content and
Indirect address specified by the Direct stores it in P8
addressing P100 content. addressing
eg. if P8 = 128 [Address range RDMEM Reads the Expansion port
and P100 = 13, 1 to 1024] P8,P100
P8 address specified by P100
then P13 = 128 Indirect content and stores it in P8
WRPLC WPLC Writes P8 value into PLC addressing
(Write PLC area) P8,(200)
P8 area address (200)
Direct eg. P8 = 128, then PLC
addressing instruction 200 = 128
[Address range WPLC Writes P8 value into PLC
1 to 999] P8,P100
P8 area at the address
Indirect specified by the P100
addressing content
eg. if P8 = 128 and P100 =
200, then PLC instruction
number 200 = 128

5-2 CleverAx
Ladder diagram instructions Mnemonic Hexadecimal Effect
code on
internal code Stack

Mnemonic Hexadecimal Effect Direct addresses

code on WRPAR H41 PP 8 xxx –
Stack
WRPLC H41 PP 4 xxx –
LD H81 00 PP bb +
WRMEM H41 PP 0 xxx –
OUT H82 00 PP bb –
Indirect addresses
AND H83 00 PP bb =
OR H84 00 PP bb =
WRPAR H41 PP a0 PP –

LDN HC1 00 PP bb + WRPLC H41 PP 60 PP –

OUTN HC2 00 PP bb – WRMEM H41 PP 20 PP –

ANDN HC3 00 PP bb = Direct addresses
ORN HC4 00 PP bb = RDPAR H42 PP 8 xxx –
ADDW H11 SS AA BB – RDPLC H42 PP 4 xxx –
SUBW H12 SS AA BB – RDMEM H42 PP 0s xxx –
MULW H13 SS AA BB –
Indirect addresses
DIVW H14 SS AA BB –
RDPAR H42 PP a0 PP –
ORW H21 SS AA BB –
RDPLC H42 PP 60 PP –
ANDW H22 SS AA BB –
RDMEM H42 PP 20 PP –
XORW H23 SS AA BB –
PP Parameter
COMW H24 00 AA BB –
XXX Address value
LSHW H31 00 AA BB –
– Decrease stack
RSHW H32 00 AA BB –
+ Increase stack
JUMP H33 00 00 XX –
= No stack modification
MOVW H80 00 00 PP –
H xx xx xx xx
START HE1 00 00 00 = PLC module — dedicated parameters
XY= HE1 y yy yy yy =
Parameter Description
END HFF 00 00 00 00 = (and bit)
ORST HA1 00 00 00 –
P50 Digital inputs
ANDST HA3 00 00 00 –
P54 Digital outputs
SET H 85 00 00 00 –
P58, P59 Auxiliary analog output is the difference
RES H 86 00 00 00 – between P58 and P59
BREAK HEE 00 00 00 = P60 Analog input 0 (non-inverting)

SS Parameter result P61 Analog input 0 (inverting)

bb Bit P62 Analog input 1 (non-inverting)
PP Parameter P63 Analog input 1 (inverting)
AA Parameter operand P64, P73.1 P64 = Timer 0. P73.1 = 1 when Timer 0 = 0
XX Program line number (max 999) P65, P73.2 P65 = Timer 1. P73.2 = 1 when Timer 1 = 0
BB Parameter operand P66, P73.3 P66 = Timer 2. P73.3 = 1 when Timer 2 = 0
xx xx xx xx 32-bit number P67, P73.4 P67 = Timer 3. P73.4 = 1 when Timer 3 = 0
y yy yy yy 28-bit number P68, P73.5 P68 = Timer 4. P73.5 = 1 when Timer 4 = 0
– Decrease stack
P69, P73.6 P69 = Timer 5. P73.6 = 1 when Timer 5 = 0
+ Increase stack
Timers are decremented every sampling time
= No stack modification (500µs or 1 ms )

CleverAx 5-3
 Parameter Description 5.2 Serial Link module
(and bit)
P70, P73.7 P70 = Counter 0. P73.7 = 1 during the
rising edge of the clock
Reserved parameters
P71, P73.8 P71 = Counter on rising edge of input 11. Parameter Description
P73.8 = 1 resets P71
P74 Serial communication address*
P72, P73.9 P72 = Counter on rising edge of input 10.
P73.9 = 1 resets P72 P75 Specifies the parameter number

P73.10 P73.10 = 1 sets PLC program for autoload P76 Specifies the parameter value
and autorun P77 Specifies the position of the decimal point
P73.11 Sampling times: 0 = 1ms, 1 = 0.5 ms in the parameter value

Use the following procedure to change the P78 Operation code

sampling time: P78 = 1 starts transmission
Program P73.11 with the desired value (set by the program)
Save in non-volatile memory P78 = 2 ends the transmission
Remove and re-connect the supply to the (set by the system)
CleverAx card. P78 = 3 indicates acknowledge received
P73.12 P73.12 = 1 saves Motion* parameters and (set by the system)
PLC flags P78 = 4 Starts receive
P73.13 P73.13 = 1 loads default parameters (set by the program)

P73.15 P73.15 = 1 indicates a short-circuit on a P78 = 5 ends receive

digital output (set by the system)

P73.16 Zero Flag for arithmetic and logic P78 = 6 indicates acknowledge
operations (set by the system)

P73.17 P73.17 = 1 Start constant scan for PLC Address format example
program using parameter P49
Set address = 01
P49 is used only to sample the axis speeds
P73.18 P73.18 = 1 saves Custom parameters* H4A = 30 30 31 31 or P74 = 808464689
P73.19 P73.19 = 1 loads Custom parameters* Hexadecimal format Decimal format
(if used) (if used)
P73.27 P73.27 = 1 loads program stored in EEPROM
P73.28 P73.28 = 1 stores program in EEPROM When CleverAx is the Master of the system, P74
contains the address of the Slave module to be
P73.29 P73.29 = 1 when Stack Error occurs
connected.
P73.31 P73.31 = 1 erases stored program
When CleverAx is the Slave, P74 contains the
P73.32 P73.32 = 1 executes the stored program
CleverAx address.
P73.32 = 0 stops the running program
Parameter Description
* See Parameter map
P80 Ladder diagram program instruction
pointer (max 999)
P81 Instruction pointed by P80
P82 Character buffer. Contains the last
character received on RS232 serial interface
P83, Contains the numerical value that will be
P73.20 sent to the Serial Link when P73.20 is in
transition from 0 to 1
P84, Contains the address of the first character
P73.21 of the alphanumerical string that will be
sent to the Serial Link when P73.21 is in
transition from 0 to 1

Parameters P82,
P82 P83 and P84 are fully available to
the user as general purpose registers when the
RS232 serial link is not used.

5-4 CleverAx
5.3 Motion module Parameter Description
P35 Position reference 3
The main functions of the Motion module are as
P36 Position reference 4
follows:
P37 Position reference 5
Motion control
P38 Position reference 6
Speed control
Position control P39 Set point speed after digital lock disable
P40 Position offset during digital lock
Parameters are used to set the configuration of the operations
motion and loop gains for each axis.
P44 Position target after digital lock disable
P45 Store location for Slave position when
Reserved parameters enabled the interrupt on the slave index
occurrence
Parameter Description
P47 Number of the Cam table to be loaded
P1 Master encoder position
P48 Recovery position (monitor the absolute
P2 Internal absolute position reference position )
P3 Internal speed reference P49 PLC program constant scan or speed
P4 Slave reference value evaluation

P5 Not used
P6 Slave position offset
Description of the motion parameters
P7 Slave speed offset The motion parameters have the following format
P8 Slave encoder position and limits:
P9 Loop position reference
Position parameters
P10 Position error
Length: 32 bits
P11 Digital lock ratio
Maximum value: ±2 147 483 648 counts
P12 Acceleration ramp Counts = encoder steps × 4
P13 Deceleration ramp
Speed parameters
P14 Max speed (for P2 and P6 during digital lock
phasing) Maximum value: 480000 counts per sec
P15 Main analog output offset
Acceleration parameters
P16 Loop correction limit
Expressed in counts per sec2
P17 Maximum following error ( P32.1 flag )
P18 Position compare 1 value P1
P19 Position compare 2 value
Master encoder position
P20 Position compare 3 value This parameter is the Master encoder step 32-bit
P21 Position compare 4 value counter.
P22 Freeze and store Slave position The encoder signals from the Master encoder are
P23 Freeze and store Master position multiplied by four and stored in this register.
P24 Master speed This parameter is used in digital lock and cam
P25 Slave speed applications.
P26 Manual speed
P2
P27 Feed forward, derivative if P32.6 = 1
Internal absolute position reference
P28 Proportional gain
This parameter is a 32-bit register that contains the
P29 Integral gain
target position. When selected, the internal
P30 Emergency position reference position references are set as follows:
P31 Flag bit parameter P31.13 = 0
P32 Switch bit parameter P32.2 = 0
P33 Position reference 1 P32.3 = 1
P34 Position reference 2

CleverAx 5-5
P3 P9
Internal speed reference Position Loop reference
When the CleverAx is programmed to operate in This parameter gives the position target value used
speed mode as follows: as the position reference in the input to the control
P32.2 = 0 loop.
P32.3 = 0
P10
This parameter becomes the internal speed Position error
reference and is programmable to a maximum value
of 480000 counts per sec. This parameter indicates a value which is the
difference between the position loop reference P9
If the encoder is directly fixed to the motor shaft, and the actual Slave position P8.
P8
the motor speed is calculated as follows:
P11
P3 60
Motor speed = x Digital lock ratio
4 Encoder steps per revolution
When P32.2 = 1, Digital lock is selected. The Slave
P4 position reference P4 is calculated as the Master
Slave reference value encoder position P1 multiplied by the content of P11.
P11
This parameter is the Slave axis position reference The ratio can be a value from 0 to 2 as a decimal
that is directly loaded in P9 (loop position number with 9 decimal places.
reference) when the cam function is disabled
(P32.4
P32.4 = 1). P11 has to be programmed with the first ten digits of
the decimal part of the desired ratio value divided
P5 by 10.

Not used Example:

To program a ratio of 1:1.5,
P6 P11 = 1 500 000 000
Slave position offset To program a ratio of 1:0.876 543 21,
When this parameter is programmed with a value P11 = 0 876 543 210
other than zero, a position offset is added to the To program a ratio of 1:0.001 23,
target position in P4.
P4 P11 = 001 230 000 (or 1 230 000)
The direction of the Slave motion is reversed
This secondary profile is executed during the when P32.1 = 1.
primary motion (with or without S-ramp) after
P32.8 is adjusted. P12
Acceleration ramp
When the execution of this secondary profile is
completed, P31.11 is set at 1. This parameter is the acceleration value used to
reach either of the following:
P7
The speed reference when this is greater than
Slave speed offset the actual speed
This parameter is programmed with a speed value. Maximum programmed speed during a
The speed value is added to the computed speed positioning profile
necessary to reach the P4 target position. The
added profile is executed (with or without S-ramps P13
— P32.20).
P32.20 Deceleration ramp
This parameter is the deceleration value used to
P8
reach either of the following:
Slave encoder position
The speed reference when this is less than the
When P32.16 = 1 (CleverAx software enabled), P8 actual speed
becomes a copy of P48 (Slave encoder counter). Zero speed during a positioning profile
When P32.16 = 0 (CleverAx software disabled), P8 is
loaded with the position reference value held in P9.
P9

5-6 CleverAx
P14 When P32.10 = 1 this parameter stores a position
Maximum speed during digital lock value that is compared with the actual position of
phasing the Slave encoder

The slave axis must accelerate to follow the correct When the actual position becomes greater than the
profile when any of the following conditions occurs: value programmed in P19,
P19 P31.3 = 1.
P32.2 = 1 (Digital lock enabled) P20
P6 ≠ 0 (Slave position offset enabled) Position compare 3 value
P2 ≠ 0 (Internal position reference enabled)
When P32.11 = 0, this parameter stores a position
The maximum speed during phasing is limited by value that is compared with the actual position of
P14.
P14 the Master encoder

P15 When P32.11 = 1 this parameter stores a position

Main analog output offset value that is compared with the actual position of
the Slave encoder
This parameter allows the offset of the analog
reference output to be corrected When the actual position becomes greater than the
value programmed in P20,
P20 P31.4 = 1.
P16
Loop correction limit P21
Position compare 4 value
This parameter sets the maximum permissible value
When P32.12 = 0, this parameter stores a position
for the reference output.
value that is compared with the actual position of
When P16 = 65535 (the maximum value), no limiting the Master encoder
function is performed on the output data. When P32.12 = 1 this parameter stores a position
P17 value that is compared with the actual position of
Maximum following error the Slave encoder

This parameter sets the maximum following error When the actual position becomes greater than the
allowed in the specific application. value programmed in P21,
P21 P31.5 = 1.
The following error is computed as the difference
between the position reference and the actual P22
position of the controlled axis and is contained in Freeze and store Slave position
P10.
P10
Following a low-to-high transition at input 10
When the value of P10 becomes greater than the
(terminal 20c) the actual Slave position is stored in
value of P17,
P17 P32.1 = 1.
P22.
P22
P18 P23
Position compare 1 value Freeze and store Master position
When P32.9 = 0, this parameter stores a position
Following a low-to-high transition on input 11
value that is compared with the actual position of
(terminal 21c) the actual Master position is stored in
the Master encoder
P23.
P23
When P32.9 = 1 this parameter stores a position
value that is compared with the actual position of P24
the Slave encoder Master speed

When the actual position becomes greater than the This parameter indicates the Master encoder speed
value programmed in P18,
P18 P31.2 = 1. in counts per sampling time

P19 P25
Position compare 2 value Slave speed

When P32.10 = 0, this parameter stores a position This parameter indicates the Slave encoder speed in
value that is compared with the actual position of counts per sampling time
the Master encoder

CleverAx 5-7
P26 P31
Manual speed Flag bit parameter
This parameter sets the required axis speed in The bits in this parameter are as follows:
counts per sec when operating in manual mode with: Parameter Description
P32.2 = 0 and bit
P32.3 = 1 P31.1 Servo error
P31.13 = 1 P31.2 Position compare P18
P31.3 Position compare P19
P27
P31.4 Position compare P20
Feedforward or derivative gain
P31.5 Position compare P21
Depending on the setting of P32.6,
P32.6 the value
P31.6 Slave index detect
programmed in this parameter is as follows:
P31.7 Master index detect
When P32.6 = 0, P27 is the Feedforward gain
P31.8 Digital input 9 detect
When P32.6 = 1, P27 is the loop Derivative gain
P31.9
P28 P31.10 P31.10 = 0 indicates end of P2 profile
Proportional gain P31.10 = 1 indicates positioning in progress
P31.11 P31.11 = 0 indicates end of P6 Profile
P29 P31.11 = 1 indicates positioning in progress
Integral gain P31.12 P31.12 = 1 indicates Digital Lock is in phase
(active only when P32.27 = 0)
P30 P31.13 P31.13 = 1 indicates Manual operation
Emergency position reference P31.13 = 0 indicates Automatic operation
P31.14 Joystick clockwise
This parameter becomes the position reference
when P32.5 = 0. It is normally used during P31.15 Joystick anti-clockwise
emergency management. P31.16 Limit switch (automatically managed only
when P2 is the position reference)
P31.17 Limit switch (automatically managed only
when P2 is the position reference)
P31.18 Emergency
P31.19
P31.20
P31.21
P31.22
P31.23
P31.24
P31.26
P31.27 Select reference from P33
P31.28 Select reference from P34
P31.39 Select reference from P35
P31.30 Select reference from P36
P31.31 Select reference from P37
P31.32 Select reference from P38

5-8 CleverAx
P32 Parameter Description
Switch bit parameter and bit

The bits in this parameter are as follows: P32.26 Enables trigger on Master index masked by
digital input 9
Parameter Description P32.27 P32.27 = 0 enables digital lock phasing
and bit
P32.28 P32.28 = 0 enables digital lock ramps
P32.1 P32.1 = 1 inverts the Slave reference
P32.29
P32.2 P32.2 = 1 enables Digital Lock
P32.30
P32.3 P32.3 = 0 selects source P3
P32.31
P32.3 = 1 selects source P2
P32.32 P32.32 = 0 inserts filter (τ = 8ms) for
P32.4 P32.4 = 0 inserts a cam Derivative or Feedforward control
P32.5 P32.5 = 0 selects emergency reference
P33
P32.6 P32.6 = 0 selects Feedforward gain
Internal position reference 1
P32.6 = 1 selects Derivative gain
P32.7 Not used. P32.7 must always be = 1 A position reference value can be programmed into
this parameter and the following five Internal
P32.8 P32.8 = 0 enables S-ramps using P2 as
position reference
position reference parameters (P33
P33 to P38).
P38
Simple position profiles can be created by selecting
P32.9 P32.9 = 0 selects Master encoder all or some of these parameters.
comparator
P32.9 = 1 selects Slave encoder comparator To select P33 set P31.27 at 1.
P32.10 P32.10 = 0 selects Master encoder
comparator P34
P32.10 = 1 selects Slave encoder
Internal position reference 2
comparator
To select P34 set P31.28 at 1.
P32.11 P32.11 = 0 selects Master encoder
comparator P35
P32.11 = 1 selects Slave encoder comparator Internal position reference 3
P32.12 P32.12 = 0 selects Master encoder
comparator
To select P35 set P31.29 at 1.
P32.12 = 1 selects Slave encoder P36
comparator
Internal position reference 4
P32.13 P32.13 = 1 enables Trigger on the Slave
index To select P36 set P31.30 at 1.
P32.14 P32.14 = 1 enables Trigger on the Master
index P37
P32.15 P32.15 = 1 enables Trigger on digital input 9 Internal position reference 5
(terminal 19c)
To select P37 set P31.31 at 1.
P32.16 P32.16 = 1 enables CleverAx software
P32.17 Reset P38
P32.18 Servo OK (input 18 on terminal 28c) Internal position reference 6
P32.19 P32.19 = 0 enables S--ramps using P3 as To select P38 set P31.32 at 1.
position reference
P32.20 P32.20 = 0 enables S-ramps using P7 as P39
position reference Set point speed after digital lock
P32.21 disable
P32.22 P32.22 = 0 starts the cam At the instant Digital Lock is enabled, P39 is set
P32.23 P32.23 = 1 selects cam auto stop equal to the Master encoder speed multiplied by the
P32.24 ratio programmed in P11.
P11 The value of P39 remains
unchanged if the Master encoder speed
P32.25
subsequently changes or if the ratio is changed.

After Digital Lock is disabled, the slave axis uses P39

as the speed reference.

CleverAx 5-9
If speed or ratio is likely to change when Digital Lock P47
is enabled, before disabling Digital Lock it is good Cam table number
practice to load the actual slave encoder speed
value (held in P25)
P25 into P39.
P39 Contains the number of the cam table to be loaded
and executed
P40
Position offset during digital lock P48
operation Slave encoder position

This parameter allows a position offset to be added This parameter is the Slave encoder step counter
to the controlled axis when Digital Lock is enabled. and contains the absolute position of the Slave.

This parameter could be used to insert a pre- or P49

post-trigger value. PLC program constant scan or speed
evaluation
P44
Position target after digital lock The sampling time programmed in P73.11 multiplied
disable by the value stored in P49 is the PLC scan time.

When Digital Lock is used in position mode (phased) Example:

and P32.3 = 1, and Digital Lock is then disabled, P44 When P73.11 = 1 (1ms sampling time) and
becomes the target position reference for the Slave P49 = 10, the PLC scan time is 10ms.
axis. When P73.11 = 0 (0.5 ms sampling time) and
P49 = 5, the PLC scan time is 2.5 ms
P45
Store location for Slave position
When Slave Index Detect Interrupt is enabled
(P32.13
P32.13 = 1), at the first occurrence of a Slave
encoder index signal the actual Slave position is
stored in P45.
P45

5-10 CleverAx
 6.4 Serial ports
6 Commissioning
The RS232 port uses a 9-pin D-type connector for
connection to a PC for the following purposes:
6.1 Offset adjustment Change parameter values
Edit programs
Use the following procedure to set the offset: Change configuration
1. Connect terminal 29c to +24V to enable the The RS485 port is used for multi-drop systems.
CleverAx.
The baud rate for both interfaces is set at 9600.
2. Set P54.6 and P32.16 at 1 to enable the control
software. RS232 link
3. Set P28 at a suitable value proportional gain.
Use a three-wire screened cable to connect the
4. Monitor P10 (position error), and adjust P15 CleverAx card to a PC.
(internal offset) to obtain the lowest value in
P10.
P10

6.2 Reset
During commissioning, it may be necessary to reset
the CleverAx card.

Reset the card by interrupting the +24V supply for

several seconds.

6.3 Recall default status

Parameters can be reset to their default values at
any time by setting P73.13 at 1. Figure 6–1 Serial communications
connections
Set P32.17 at 1 to reset (to zero) the following
parameters:
CleverAx serial port PC serial port
P1, P2, P3, P4, P5, P6, P7, P8, P9, P10, P30, P48 9-way 25-way
Pin 2 (Tx) Pin 3
Default values
Pin 3 (Rx) Pin 2
P0 to P10 0.
Pin 5 (GND) Pin 7
P11 1000000000
Connect pin 4 to pin 5
P12 P13 = P14 = 100000
Connect pin 6 to pin 20
P15 –512
Connect pin 7 to screen
P16 32000
P26 400 RS485 interface
P27 146
P28 1280
Enter the required address (1 to 32) in
parameter P74.
P74 Default address = 1.
P49 40
P32.4 1 The protocol is standard ANSI x 3.28-2.5 A4 which
allows operation with all digitally controlled Drives
P32.5 1
manufactured by Control Techniques.
P32.7 1
The BCC (Block Checksum) function is always
P32.22 1
enabled.
P74 H4A = 30303131
P73.11 1

CleverAx 6-1
6.5 Start-up procedure 6.6 Editing a PLC program
1. Connect the CleverAx card to the PC. 1. Connect the CleverAx card to the PC.

2. Insert the diskette containing the CDT file into 2. Insert the diskette containing the CDT file into
the floppy diskette drive of the computer. the floppy diskette drive of the computer.

3. Type CDT <CR> to start the CDT program. 3. Type CDT <CR> to start the CDT program.

4. Press the F4 key on the keyboard to select 4. Press the F5 key on the keyboard to select the
Terminal Emulation. editor

5. Apply +24V to the CleverAx card. A welcome 5. Write or edit the program
message and the prompt ClAx> are displayed.
6. Press the F6 key on the keyboard to compile the
Parameters can now be read and modified. program. The download function loads the
program into the CleverAx memory.

6-2 CleverAx
7 Diagnostics
CleverAx enabled
Red LED 1
Lit Hardware enable signal and software enable
command are present
Unlit Hardware enable signal not present or
software enable command not received

PLC in RUN mode

Red LED 2
Lit PLC program running (P73.32=1)
Unlit PLC program stopped (P73.32=0)

24V supply
Green LED
Lit 24V supply applied
Unlit 24V supply removed

CleverAx 7-1
 8.2 Manual or internal speed
8 Configuring CleverAx
reference selection
(Speed mode)
8.1 Position loop
CleverAx can operate in Speed mode to follow an
To evaluate error in the actual position, the position internal or external speed reference value.
loop requires a position reference held in parameter
P4 to be compared with the motor position.

The position reference can be one of the following:

The programmed position
The output of the Digital Lock controller
The internal multi-reference generator

P32.19
Enable
S ramp P12
Acceleration
ramp

P3 P13 S Ramp
Internal Deceleration
speed ramp
reference

From 8.3
Internal
position
reference Speed and
Ref P2 offset
management
P31.15
Joystick P32.2 P4
Anti- P12 Digital lock Slave
clockwise Acceleration selector position
ramp reference

P26 P13
Manual Deceleration
speed ramp

P31.14 P31.13 P32.3

Joystick Manual or P3 or P2/P26
Clockwise Automatic source
selector selector

CleverAx 8-1
8.3 Internal position reference
When Digital Lock is disabled, Manual mode is
disabled and P32.3 = 1. P2 then becomes the target
position reference.

P2 may be set at one of six pre-programmed

position references stored in parameters P33 to P38.
P38
Each position reference parameter has a latch bit
(P31.27
P31.27 to P31.32).
P31.32
A transition from zero to one of a latch bit loads the
content of the relevant position reference into P2.
P2

P31.27
Parameter
P33 selector

P33 P32.3 P32.8 P26 P31.13

Internal Parameter Enable Manual speed Manual or
position P2/P26 S-ramp Automatic
reference 1 selector selector
P12
Acceleration
P31.28 ramp
Parameter
P34 selector
P13
P2 Deceleration S-ramp
P34 Internal ramp Calculation
Internal absolute
position position
reference 2 reference P14
Max speed
P31.29 during digital
Parameter lock phasing
P35 selector
= P31.10
Profile
P35 terminated
Internal
position
reference 3

P31.30
Parameter
P36 selector Digital lock

P36
Internal Speed and
position offset
reference 4 P3 management
Slave speed

P31.31
Parameter P32.2 P4
P37 selector Digital lock Slave
selector position
reference
P37
Internal
position
reference 5

P31.32
Parameter
P38 selector

P38
Internal
position
reference 6

8-2 CleverAx
8.4 Digital Lock
Digital Lock can synchronize a Slave axis to a Master
axis in the following ways:
Speed ratio
Position
If the Master is already running, synchronisation is
possible with or without ramps.

When Digital Lock is enabled with phase recovery,

Digital Lock can not be disabled before phase
synchronization occurs (P31.12
P31.12 = 1). If an attempt is
made to disable Digital Lock when the phases are
not synchronized, position lock will be lost.

P32.1 P32.28 P32.2

Invert Enable Digital lock
slave ramps selector
reference

P1 P11 Speed and

Master Digital lock offset
encoder ration management
position

P4
P32.19 Slave
Enable position
S ramp P12 reference
Acceleration
ramp

Master P13 S-ramp

encoder Deceleration
speed ramp
At speed
=

=
Position P12 Phased
phase Acceleration P31.12
error ramp Digital lock
phased
P13
P40 Deceleration
Position ramp
offset during
digital lock
operation P14 P32.27
Max speed Digital lock
during digital phasing
lock phasing

P44 P2
Position Internal
target after absolute
digital lock position
disable reference

Master P3 P32.3
encoder Internal P2 or P3
speed speed selector
reference

CleverAx 8-3
8.5 Digital Lock trigger and
Slave Index detection
Digital Lock can be enabled in any of the following
ways:
Setting P32.2 at 1
Digital input signal (enabled by setting P32.15
at 1) with a maximum delay of 5µs
At the first occurrence of the Master encoder
index (enabled by setting P32.14 = 1)
At the first occurrence of the Master encoder
index when digital input IN9 is logic high
(enabled by setting P32.26 at 0 and P32.14
at 0)
A pre-/post-trigger function is available using P40.
P40

P32.14
Enable
trigger on
master
index

Master Enable
encoder digital lock
marker
P31.7 P32.26
Master Enable
index trigger on
detect mask master
index Enable
IN 9 digital lock

High

P31.8 P32.15
Digital Enable
input 9 detect trigger on
digital input 9
Enable
digital lock

P32.13
Enable
trigger on
slave Drive
Enable
Slave digital lock
encoder
marker

P45
P31.6 Store location
for slave
Slave index
position
detect

8-4 CleverAx
8.6 Speed and position offset
management

P32.20
Enable
S ramp
P12
Acceleration
ramp

P7 S Ramp
Slave speed P13
offset Deceleration
ramp

P32.5
Emergency
P32.8 reference
Enable selector
S ramp P12
Acceleration
ramp

P6 P13 S Ramp
Slave Deceleration PID and
position ramp If P32.5 = 1 position loop
offset P30 = P9

P14
Max speed
during digital
lock phasing

= P31.11
Profile
terminated

Position
reference Cam
from
selection P4 P32.4
block Slave Insert cam
reference
value

CleverAx 8-5
8.7 Electronic cam
Electronic cam describes the motion profile of the
Slave, in relation to the position of the Master.

A look-up table (named MODULE) allows the Slave

axis position to be specified for each position of the
Master axis. The path between two consecutive
points is computed using a linear interpolation
algorithm.

In the case of a closed cam, the last position of the

Master specified in the table is used to reset the
counter and re-start the Slave at the first line.

A number of different tables can be held in memory

and selected using P47.
P47 The length and number of
tables is limited only by the amount of available
memory.

P32.4 During P32.4 P9

Insert cam positive Position PID and
edge, P9 is loop position loop
loaded to P4 reference

Position
reference
from Slave position
selection P4 counter
Slave reference
reference
value

ds ds
P32.23 dt dt
Select cam
auto stop

P32.22
Enable cam
Master position Cam table pointer
counter When Mcp > X(px), px = px+1
reference When Mcp< X (px-1), px = px-1
(Mpc)
High
Reset counter

P47
Cam table Module
number Profile 1
XY = X(1), Y(1)
XY = X(2), Y(2)
XY = X(n), Y(n)

Module
Profile n
XY = X(1), Y(1)
XY = X(2), Y(2)
XY = X(n), Y(n)

8-6 CleverAx
8.8 PID and position loop

P32.32
Insert filter

P30 Digital filter

Emergency ds
P32.5 position P32.6 P27
dt
Emergency reference Select Feedforward
reference feedforward or derivative
selector (0) gain
or derivative

Feed-forward
Speed and
position Derivative
offset P16 P15
management Output Analog offset
P10 limit
P9 Position error
Position
loop P28
reference Proportional
gain

Controlled P48 P29

encoder Slave Integral
encoder gain
position

Current
P32.16 P8 reference
Enable Slave
CleverAx encoder
software position

P12 > P31.1

Maximum Servo
following error
error

P54.6 Drive enable

Output bit output
OUT 6

CleverAx
enable
input IN19

CleverAx 8-7
 LABEL
9 Software Tools The label format is as follows:

|LABEL
9.1 Terminal Emulation mode (The pipe character | must be the first character on
the line.)
— command syntax
INSTRUCTION
Write a parameter
The instruction format is as follows:
Pxxx=value<CR>
Mnemonic
P must be a capital letter
5 characters maximum
xxx is the parameter number
10 blank characters maximum
= is the equal sign
Capital letter P
value is the desired setting value for the
specified parameter Parameter identification
<CR> is the ENTER key The first letter of the mnemonic field must be the
No spaces are allowed between characters. first character of the line.

No blank (space) characters are allowed between P

Read a parameter value and the parameter identification number.
Pxxx=<CR> If the instruction requires multiple paragraphs to be
P must be a capital letter defined, the parameter list must use a comma “,” or
xxx is the parameter number a blank space for separation.
= is the equal sign The immediate value (as in the MOVW instruction)
<CR> is the ENTER key must be written at the beginning of the line that
No spaces are allowed between characters. follows the instruction line.

Examples of valid instruction syntax are as follows:

Repeat the last command
LD P32.1
R<CR> ADDW P1,P2,P3
ADDW P1 P2 P3
MOVW P8
Interrupt repetitive display 200000
JUMP LABEL
Enter key (<CR>)
Instruction lines with the following syntax are
evaluated as direct commands from the serial link
9.2 PLC program instruction and are given priority for execution:
syntax #<parameter number>=<parameter value>#

The PLC program is a compiled program which

optimizes the instruction execution time. During
the compile phase, a complete syntax error
detection is performed. The syntax is shown in the
PLC instruction tables in Chapter 5 Parameters.
Refer to the following:
COMMENT LINE
When the first character of the line is a blank
(space) character or a star (*) character, all the
line is assumed to be a comment line and not
compiled.
All the characters following an instruction are
assumed to be comments.

CleverAx 9-1
9.3 How to use the F6 <comp>
CDT program Press this key to start the ladder diagram program
compiler

Text editor The file in the editor is compiled. Two files are
created having the following extensions:
F1 key <new> .obj
Press this key to erase the loaded file and the .hex
displayed text. The following message is displayed: The filename is the same as that of the edited file. If
THE COMMAND IS <NEW FILE> ARE YOU SURE Y/N ? the edited file has no name, the compiled files are
named: NO_NAME.
F2 key <load>
The file having extension .ldg contains the source
Press this key to open a windows with all the files code of the ladder diagram program
having extension .ldg listed.
The file having extension .obj contains the source
F3 key <save> code, the compiled code and the stack value.

Press this key to save the current file. If the current The file having extension .hex contains the
file has no name, the following message is displayed: executable compiled code.
FILE HAS NO NAME, SAVE TO ?
When compilation is completed, the following
If the file is already named, the file is saved with the message is displayed:
message: DOWNLOADING file.ldg Y/N?
SAVE “filename.ldg” If Y is typed, the code is downloaded into the
F4 key <term> CleverAx card via the RS232 serial link.
If N is typed, no action occurs.
Press this key to select Terminal Emulation so that
the CleverAx card can be controlled using the RS232 F7 key <ink>
serial link.
Press this key allows to change the background
F5 key <editor> colour of the screen.

Press this key to return to the editor from the F8 key <debug>
Terminal Emulation and Compiler functions.
Press this key to run the debugger utility. Use the
arrows keys to modify parameter values.

F9 key <help>
Press this key to list descriptions of the function
keys.

F10 key <quit>

Press this key to return to DOS.

9-2 CleverAx
9.4 How to use the F2 key <write>
CMT program Press this key to write the data into the destination
CleverAx card using the RS232 serial link.
Use the CMT program to copy automatically the
contents of the memory of one CleverAx card to The following message is displayed:
the memory of another CleverAx card. Connect CleverAx destination and press any
key when ready
Command screen Press a key. The process starts and the following
messages are displayed in sequence:
F1 key <read> >> Set PLC in STOP mode <<
Press this key to load parameter values (1 to 128) and >> Disable PID loop control <<
PLC instructions (1 to 999) using the RS232 serial Downloading Parameter area %100
link. Downloading PLC program %100
Saving parameter area and PLC instructions
The following message is displayed:
to EPROM
Connect the CleverAx source and press any Ready for new operation
key when ready
Press a key. The copy process starts and the F9 key <help>
following messages are displayed in sequence: Press this key to list descriptions of the function
>> Set PLC in STOP mode << keys.
>> Disable PID loop control <<
Uploading Parameter area %100 F10 key <quit>
Uploading PLC program into buffer Press this key to quit the CMT program and return to
Processing data for Checksum test %100 DOS.

CleverAx 9-3
10 PID Algorithms

Proportional gain
−6
Vout = Step error × KP × 1.192 × 10

Integral gain
Vout
= Step error × K |× K 1
sec
Where:
K1= 2.328 × 10–3 for 500µs sampling time
K1= 1.164 × 10–3 for 1ms sampling time

Feed-forward gain
K2
K ff =
VMAX
Where:
K2 = 58.59 × 106 for 500µs sampling time
K2 = 29.29 × 106 for 1ms sampling time
VMAX = Maximum axis speed for 9.155V analog
output
VMAX unit is Step ÷ seconds

CleverAx 10-1
 CDI 3
11 Applications Not used.

CDI 4
Notes
Joystick input for clockwise motor rotation
Digital inputs are identified by the
following notation: If the joystick input is on, the speed is set at
CDI 0 to CDI 18 500 step/sec. If the joystick is still on the axis after
2 seconds, the speed will increase to 10,000
Digital outputs are identified by the step/sec.
following notation:
When the joystick is released, the axis decelerates to
CDO 0 to CDO 7 zero speed. This gives an inch function.
In the main body of this User Guide, the
CDI 5
digital inputs are identified as IN 1 to IN 19
and the digital outputs as OUT 1 to OUT 8. Joystick input for counterclockwise motor rotation
The relationships between the notations If the joystick input is on, the speed is set at
are as follows: 500 step/sec. If the joystick is still on the axis after
CDI 0 = IN1 = P50.1 = pin 11c 2 seconds, the speed will increase to 10,000
CDI 1 = IN2 = P50.2 = pin 12c step/sec.
CDI 18 = IN19 = P50.19 = pin 29c When the joystick is released, the axis decelerates to
CDO 0 = OUT1 = P54.1 = pin 1c zero speed. This gives an inch function.
CDO 1 = OUT2 = P54.2 = pin 2c
CDO 7 = OUT8 = P54.8 = pin 8c CDI 6
Automatic/Manual mode selector.

11.1 Linear Positioner with Apply logic 0 for Manual mode of operation.
Auto Learning Apply logic 1 for Automatic mode of operation.

This application is a linear positioner with the CDI 7

following features:
Axis positioning.
Up to six positions can be memorized
Control a limit switch function When Automatic mode is selected, logic 1 applied to
this input positions the axis at the position set on
Homing procedure
the thumbwheel switch.
Emergency stop
S-ramp or linear ramp When Manual mode is selected, this input has no
effect.
The application is programmed by the user using a
thumbwheel switch. Position settings can be saved CDI 8
in EEPROM.
Position learning.
Inputs When Manual mode is selected, logic 1 applied to
this input causes the axis position set by the
CDI 0 thumbwheel switch to be saved in RAM (volatile
CDI 1 memory).
CDI 2
When Automatic mode is selected, this input has no
Thumbwheel switch inputs, as follows: effect.
CDI 0 — Least significant bit
CDI 2.— Most significant bit

CleverAx 11-1
CDI 9 CDI 16
Homing request. Not used.

A homing procedure must be performed when CDI 17

power is applied to the CleverAx card.
Drive normal input.
Apply logic 1 to CDI 18 Enable
Connect to the Drive normal output of the Drive.
When logic 1 is applied to CDI 9, the joystick is
programmed for clockwise rotation. The motor CDI 18
rotates clockwise until the axis reaches the point
where the homing sensor causes input CDI 10 to CleverAx card Enable
becomes open-circuit.

At this moment, the slave index trigger is armed, Outputs

and the motor reverses its rotation
(counterclockwise joystick P31.15 = 1). CDO 0

The motor rotates until the marker phase of the Homing output signal.
encoder input of the CleverAx card is activated.
The output signal alternates between logic 0 and
This is set as position zero.
logic 1 during the homing procedure. When the
homing procedure is finished, the output signal is at
CDI 10
logic 1.
Homing sensor input.
CDO 1
This input must be normally closed.
Automatic/Manual mode.
CDI 11 Logic 1 — Automatic mode
Clockwise limit switch input. Logic 0 — Manual mode

CDO 2
CDI 12
End positioning.
Counterclockwise limit switch input.
Logic 1 when positioning has finished.
CDI 13
CDO 3
Emergency stop input.
Not used.
This input should be connected to a normally closed
contact. When the contacts are opened, the
CDO 4
emergency procedure is started.
Not used.
This input is latching. To clear the emergency
condition power must be removed from the
CDO 5
CleverAx card.
Drive enable.
CDI 14
Connect to the Drive Enable input of the Drive.
Ramps selector.
CDO 6
Apply logic 0 to enable linear ramps.
Apply logic 1 to enable S-ramps. Saving position.

CDI 15 Logic 1 when position or parameters are being saved

in EEPROM.
Save parameters.
CDO 7
Apply logic 1 to save the positions stored in RAM to
the EEPROM (non-volatile memory). Emergency output.

An alternating signal appears during an emergency.

11-2 CleverAx
Application description Load and execute the program

Homing An MS DOS compatible development program (Cdt

CleverAx development tools) is supplied with the
Initiate axis homing by applying logic 1 to input CleverAx card. Refer to the relevant
CDI 9. documentation.

The effects of this operation are as follows: 1. At the DOS prompt, type: CDT.
The motor rotates clockwise at a speed set in 2. Press F2.
parameter P26. The Homing output signal
alternates between logic 0 and logic 1. 3. Select the file Lin_Pos.Ldg.
Lin_Pos.Ldg
When the axis intercepts the Homing sensor,
the input signal applied to CDI 10 is logic 0 4. Press the Enter key.
(contacts closed). The motor reverses its 5. The file Lin_Pos.Ldg is displayed in Windows
rotation and stops when its position Notepad.
corresponds with the encoder c phase (marker
pulse). 6. Press F6 to start the compiler.
The axis is in now in position 0. The Homing
output signal is at logic 1. 7. At the prompt Downloading file Y/N? press Y .

Memorizing position 8. When loading has finished press F5 followed by

F4.
1. Ensure the CleverAx card is in Manual mode
9. Check that parameter P73.32 = 0 and P32.16 =
2. Use the joystick to move the axis to the rquired 0.
position.
10. Set P73.10 at 1(Autostart flag).
3. Set the thumbwheel switch at the number that
11. Set P73.12 at 1 (Save Parameter).
is to be related to the position.
12. Wait until both red LEDs become unlit.
4. Apply logic 1 to CDI 8.
13. Set P73.28 at 1.
5. The output signal on CDO 6 will become logic 1
during the save process. 14. Wait until both red LEDs become unlit.

Axis positioning 15. You may now remove power from the card.
When power is next applied, the application will
Note be automatically loaded from memory and run.

Axis positioning can be performed when

linear or S-ramp is used (logic 0 applied to
CDI 14 or logic 1 applied to CDI 14,
respectvely).

When the required number of positions have been

memorized, apply logic 1 to input CDI 6 to select
Automatic mode.

Apply logic 1 to CDI 7. The axis moves to the

position set on the thumbwheel switch.

Save positions and PLC program

To save the memorized positions, apply logic 1 to
the Save parameters input CDI 15.

CleverAx 11-3
 Non inverting reference CDO 0 Homing
Inverting reference CDO 1 Auto
AUX analog output non inv CDO 2 End positioning
AUX analog output invert CDO 3 Not used
Ground CDO 4 Not used
Analog input 0 non invert CDO 5 Drive enable
Analog input 0 invert CDO 6 Saving position
Analog input 1 non invert CDO 7 Emergency
Analog input 1 invert Ground
RLB +24V
RLA CDI 0
RX CDI 1
RX CDI 2
TX CDI 3 Not used
TX CDI 4 Joy CW
+5V CDI 5 Joy CCW
Ground CDI 6 Auto
+PhA2 Master encoder CDI 7 Start motion
-PhA2 Master encoder CDI 8 Position learning
+PhB2 Master encoder CDI 9 Homing request
-PhB2 Master encoder CDI 10 Home sensor
+PhC2 Master encoder CDI 11 CW limit
-PhC2 Master encoder CDI 12 CCW limit
Slave +5V CDI 13 Emergency
encoder
Ground CDI 14 S Ramps
+PhA1 Slave encoder CDI 15 Save parameters
-PhA1 Slave encoder CDI 16 Not used
+PhB1 Slave encoder CDI 17 Drive healthy
-PhB1 Slave encoder CDI 18 Enable
+PhC1 Slave encoder Ground
-PhC1 Slave encoder Fault
+24V Ground

Side A Side C

Figure 11–1 Connections to the CleverAx card for Linear Positioner with Auto Learning

11-4 CleverAx
*Linear Positioner
*Author: Control Techniques Soprel
*Date: 20 October 1993

**********************************
P73.32 P90.32 Move word
LD 73.32 100000000
ANDN P90.32 P64
MOVW P64 Set timer
100000000
P73.32
LD P73.32 P90.32
OUT P90.32
P73.32
LD P73.32 P32.7
OUT P32.7
P73.32
LD P73.32 P32.3
OUT P32.3

LD P73.32 P73.32
P54.6
OUT P54.6

**********************************
P50.14
LDN P50.14 Emergency P31.18
OUT P31.18
P32.5 P64.8
LDN P32.5 P54.6
AND P64.8
OUT P54.8

LD P32.5 P32.5 Jump

JUMP NO EMERGENCY No_Emergency

P73.32
LD P73.32 /P32.16
OUTN P32.16

END END
| NO EMERGENCY

********************************** No_Emergency

*SAVE POSITION PARAMETER

Jump
P50.16 P90.16
LD P50.16 RESET_PAR
ANDN P90.16
JUMP RESET_PAR
P90.17 Jump
LD P90.17 SAVE_POSITION
JUMP SAVE_POSITION

LD P73.32 CleverAx software P73.32 P50.18

AND P50.18 enable P32.16
OUT P32.16

**********************************
P50.10
LD P50.10 Enable homing P90.10
OR P90.10 request P90.10
OUT P90.10
P90.10 P32.16 P50.19 P54.6 P90.8 Jump
LD P90.10 Test for homing HOMING
AND P32.16 function and jump
AND P50.19 homing routine
AND P54.19
ANDN P90.8
JUMP HOMING

**********************************

CleverAx 11-5
 P50.12
LDN P50.12 Limit switch CW P31.16
OUT P31.16
P50.13
LDN P50.13 Limit switch CCW P31.17
OUT P31.17

********************************** P50.7
LD P50.7 Automatic/manual P31.13
OUTN P31.13 selector P50.7
LD P50.7 P54.2
OUT P54.2 Automatic/
Manual LED
**********************************
P31.10
LD P31.10 End profiling /P54.3
OUTN P54.3

********************************** P50.15 P31.10 SET

LD P50.15 P32.8
ANDN P31.10 Linear or S-ramp
SET P32.8 selector

LDN P50.15 RESET

P50.15 P31.10
ANDN P31.10 P32.8
RES P32.8

**********************************
LD P73.32 P73.32 P31.14 P31.15 Move word
ANDN P31.14 Auto selection 4000
ANDN P31.15 delay P66
MOVW P66 Manual speed
4000 in fast

LD P73.3 Move word

P73.3
MOVW P26 Manual fast 10000
10000 speed P26
P73.3 Move word
LDN P73.3 Manual slow
MOVW P26 speed 500
500 P26
P50.5
LD P50.5 CW joy input P31.14
OUT P31.14 control
P50.6
LD P50.6 CCW joy input P31.14
OUT P31.15 control

**********************************
*THUMBWHEEL SWITCH DECODER
P50.1 P50.2 P50.3 P50.4
LD P50.1 Code 1 P92.1
ANDN P50.2
ANDN P50.3
ANDN P50.4
OUT P92.1
P50.1 P50.2 P50.3 P50.4
LDN P50.1 Code 2 P92.2
AND P50.2
ANDN P50.3
ANDN P50.4
OUT P92.2
P50.1 P50.2 P50.3 P50.4
LD P50.1 Code 3 P92.3
AND P50.2
ANDN P50.3
ANDN P50.4
OUT P92.3
P50.1 P50.2 P50.3 P50.4
LDN P50.1 Code 4 P92.4
ANDN P50.2
AND P50.3
ANDN P50.4
OUT P92.4

11-6 CleverAx
LD P50.1 Code 5 P50.1 P50.2 P50.3 P50.4
P92.5
ANDN P50.2
AND P50.3
ANDN P50.4
OUT P92.5

LDN P50.1 Code 6 P50.1 P50.2 P50.3 P50.4

P92.6
AND P50.2
AND P50.3
ANDN P50.4
OUT P92.5

********************************
*AUTO LEARNING CONTROL
*ONLY IN MANUAL MODE
P31.13 P50.9 P92.1 ADD WORD
LD P31.13 POSITION 1
AND P50.9 Auto learning P99+P8 = P33
AND P92.1
ADDW P33, P99, P8

LD P31.13 POSITION 2 P31.13 P50.9 P92.2 ADD WORD

AND P50.9 Auto learning P99+P8 = P34
AND P92.2
ADDW P34, P99, P8
P31.13 P50.9 P92.3 ADD WORD
LD P31.13 POSITION 3
P99+P8 = P35
AND P50.9 Auto learning
AND P92.3
ADDW P35, P99, P8
P31.13 P50.9 P92.4 ADD WORD
LD P31.13 POSITION 4
P99+P8 = P36
AND P50.9 Auto learning
AND P92.4
ADDW P36, P99, P8

LD P31.13 POSITION 5 P31.13 P50.9 P92.5 ADD WORD

AND P50.9 Auto learning P99+P8 = P37
AND P92.5
ADDW P37, P99, P8

LD P31.13 POSITION 6 P31.13 P50.9 P92.6 ADD WORD

AND P50.9 Auto learning P99+P8 = P38
AND P92.6
ADDW P38, P99, P8 P50.9 P31.13
P54.7
LD P50.9 Position saving
AND P31.13 display
OUT P54.7

********************************
*RESET MULTI VALUE SELECTOR INDEX
P73.32
/P31.27
LD P73.32
P73.32
OUTN P31.27 <P31.27> /P31.28
LD P73.32 P73.32
OUTN P31.28 <P31.28> /P31.29
LD P73.32
P73.32
OUTN P31.29 <P31.29> /P31.30
LD P73.32 P73.32
OUTN P31.30 <P31.30> /P31.31
LD P73.32
P73.32
OUTN P31.31 <P31.31> /P31.32
LD P73.32
OUTN P31.32 <P31.32>

LDN P31.13 Positioner at P31.10

AND P50.8 POSITION 1 <P33> P31.13 P50.8 P92.1
P31.27
ANDN P31.10
AND P92.1
OUT P31.27

CleverAx 11-7
 P31.13 P50.8 P31.10 P92.2
LDN P31.13 Positioner at P31.28
AND P50.8 POSITION 2 <P34>
ANDN P31.10
AND P92.2
OUTP P31.28
P31.13 P50.8 P31.10 P92.3
LND P31.13 Positioner at P31.29
AND P50.8 POSITION 3 <P35>
ANDN P31.10
AND P92.3
OUT P31.29
P31.13 P50.8 P31.10 P92.4
LDN P31.13 Positioner at P31.30
AND P50.8 POSITION 4 <P36>
ANDN P31.10
AND P92.4
OUT P31.30
P31.13 P50.8 P31.10 P92.5
LDN P31.13 Positioner at P31.31
AND P50.8 POSITION 5 <P37>
ANDN P31.10
AND P92.5
OUT P31.31
P31.13 P50.8 P31.10 P92.6
LDN P31.13 Positioner at P31.32
AND P50.8 POSITION 6 <P38>
ANDN P31.10
AND P92.6
OUT P31.32

END END

**********************************
*HOMING PROCEDURE
HOMING
| HOMING

LD P90.10 FORCED MANUAL P90.10

P31.13
OUT P31.13 MODE
P50.11
LDN P50.11 HOME SENSOR P90.11
OR P90.11 LATCH
P90.11
OUT P90.11
P73.32 P90.11
LD P73.32 CE JOY. CONTROL P31.14
ANDN P90.11
OUT P31.14
P90.11 P90.9
LD P90.11 SLAVE INDEX P32.13
ANDN P90.9 TRIGGER ARMED
OUT P32.13
P90.11
LD P90.11 P90.9
OUT P90.9
P90.11 P31.6
LD P90.11 CCW JOY. CONTROL P31.15
ANDN P31.6
OUT P31.15
P31.6
LD P31.6 END HOMING P90.8
OUT P90.8
P90.8
LD P90.8 ORIGIN P8 = 0 P32.17
OUT P32.17
P64.10
LD P64.10 HOMING TRIP LED P54.1
OR P90.8
P90.8
OUT P54.1

END END

**********************************

11-8 CleverAx
*PARAMETER RESET

| RESET_PAR REST_PAR
P73.32
LD P73.32 /P32.16
OUTN P32.16
P73.32
LD P73.32 ADD WORD
ADDW P54, P99, P99 P99+P99 = P54
P90.10
LD P73.32 ADD WORD
ADDW P90, P99, P99 P99+P99 = P90
P73.32
LD P73.32 /P31.6
OUTN P31.6
P73.32
LD P73.32 P90.16
OUT P90.16
P73.32
LD P73.32 P90.17
OUT P90.17

END END

**********************************
*POSITIONS SAVING PROCEDURE

| SAVE_POSITION SAVE POSITION

P73.32
LD P73.32 P54.7
OUT P54.7
P73.32 P90.20
LD P73.32 Programming P73.12
ANDN P90.20
OUT P73.12
P73.32
LD P73.32 P90.20
OUT P90.20
P73.32 P90.25
LD P73.32 MOVE WORD
ANDN P90.25 8000
MOVW P65 P65
8000
P73.32
LD P73.32 P90.25
OUT P90.25

LD P73.2 P73.2
P54.7
OUT P54.7

LDN P73.2 P73.2

P90.17
OUTN P90.17

END END

**********************************

CleverAx 11-9
11.2 Digital lock CDI 12
Increase position offset.
This is a digital lock application with programmable
ratio between master and slave. Features are as When logic 1 is applied, an offset will be added to
follows: the actual slave speed. This increments position
Ratio is programmable by a thumbwheel switch offset between the master and slave axes.
or external PLC.
Lock CDI 13
Unlock Decrease position offset.
Two different lock modes (with or without
phasing recover) When logic 1 is applied, an offset will be subtracted
to the actual slave speed. This decrements position
Linear or S-ramp during the phasing lock
offset between the master and slave axes.
Inputs CDI 14
CDI 0 Ramps selector.
CDI 1
Apply logic 1 to select linear ramps.
CDI 2
CDI 3 Apply logic 0 to select S-ramps.

Inputs connected to thumbwheel switches 4 and 5 CDI 15

(5 is the least significant digit).
Connect this input to output CDO 0.
CDI 4
CDI 16
CDI 5
CDI 6 Connect this input to output CDO 1.
CDI 7
CDI 17
Inputs connected to thumbwheel switches 2 and 3.
Enables space auto-phase when P32.27 = 0. Lost
CDI 8 space is recovered during phase lock.
CDI 9
CDI 18
Inputs connected to thumbwheel switch 1
(most significant digit). CleverAx card enable.

CDI 10
Digital lock enable.

CDI 11
Line speed selection.

Selects the axis speed when digital lock is disabled.

When logic 0 is applied, the speed is zero. When
logic 1 is applied, the speed is that set in parameter
P83.
P83

11-10 CleverAx
Outputs Speed

CDO 0 Master speed

Thumbwheel switch supply (digit 3 and digit 5).

Applies the supply to digit 3 and digit 5 of the Slave speed
thumbwheel switch when the data is ready to be
received.

CDO 1 Time

Thumbwheel switch supply (digit 1 and digit 4).

Figure 11–2 Digital lock with linear ramps —
Applies the supply to digit 2 and digit 4 of the
phase not locked
thumbwheel switch when the data is ready to be
received.

CDO 2 Speed
Speed set by
Supplies digit 1 of the thumbwheel switch during P14
Master speed
digit scan. b

CDO 3 a
Slave speed
Not used.

CDO 4
Not used. Area a = area b Time

CDO 5
Figure 11–3 Digital lock with linear ramps —
Drive enable output phase locked

CDO 6
Logic 1 when the slave axis is in phase with the master axis. Speed

CDO 7 Master speed

Following error output (set in parameter P17).

P17
Slave speed
Application description
When logic 1 is applied to input CDI 10 (Digital lock
enable), digital lock occurs at the ratio set on the
Time
thumbwheel switches. (The first digit is the integer
and digits 2, 3, 4 and 5 are the decimal places.)
Figure 11–4 Digital lock with S-ramp —
The slave axis can start from zero speed (logic 0 phase not locked
applied to input CDI 11), or from a speed set in
parameter P83 (logic 1 applied to input CDI 11).

The slave axis reaches the master axis by following

Speed
the selected ramp (linear ramp when logic 0 is Speed set by
P14
applied to CDI 14, or S-ramps when logic 1 is applied Master speed
b
to CDI 14).
a
When logic 0 is applied to input CD17, the slave will Slave speed
become phase-locked with the master axis, and will
subsequently recover the lost space.

Position offset can be applied by applying logic 1 to Area a = area b Time

input CDI 12 (increment) or to input CDI 13
(decrement).
Figure 11–5 Digital lock with S-ramp —
phase locked

CleverAx 11-11
 Master
encoder

Slave
encoder

Drive enable Pin 6 Side C

Servodrive

Figure 11–6 Side A connections to the CleverAx

card for Digital Lock

11-12 CleverAx
 CDO 0 Power switch 3&5
CDO 1 Power switch 2&4
CDO 2 Power switch 1
CDO 3 Not used
CDO 4 Not used
CDO 5 Drive enable
CDO 6 Phased
CDO 7 Emergency
Ground
+24V
CDI 0 Switch 4&5
CDI 1 Switch 4&5
CDI 2 Switch 4&5
CDI 3 Switch 4&5
CDI 4 Switch 2&3
CDI 5 Switch 2&3
CDI 6 Switch 2&3
CDI 7 Switch 2&3
CDI 8 Switch 1
CDI 9 Switch 1
CDI 10 Digital lock enable
Following error CDI 11 Line sped selection
CDI 12 -Position offset
CDI 13 +Position offset
CDI 14 S Ramp
CDI 15 Link to CDO 0
CDI 16 Link to CDO 1
CDI 17 Autophase enable
Phase 1 CDI 18 Enable
Ground
Fault
Ground

+24V Side C

Figure 11–7 Side C connections to the CleverAx card for Digital Lock

CleverAx 11-13
Digital lock
Author: Control Techniques Soprel
Date: 5 November 1993

**********************************
*SETUP
**********************************
P54.6 JUMP
LD P54.6
SETUP_OK
JUMP SETUP_OK

**********************************
*SET MAXIMUM DELTA ERROR
********************************** MOVE WORD
P73.32
LD P73.32 512
MOVW P17 P17
512

**********************************
*
*LOAD 4096 IN P82
*
*SPEED FOR SPACE OFFSET
*
*CONTROLLER STEP / SEC.
*
**********************************
P73.32 MOVE WORD
LD P73.32
4096
MOVW P82
P82
4096
**********************************
*
*LOAD 10000 IN P83
*
*BASE SPEED STEPS / SEC.
*
**********************************
P73.32 MOVE WORD
LD P73.32
10000
MOVW P83
P83
10000

**********************************
*LOAD 256 IN P88
**********************************
P73.32 MOVE WORD
LD P73.32
256
MOVW P88
P88
256

**********************************
*LOAD 256 IN P89
**********************************
P73.32 MOVE WORD
LD P73.32
256
MOVW P89
P89
256

**********************************
*LOAD 16 IN P90
********************************** MOVE WORD
LD P73.32 P73.32
16
MOVW P90 P90
16

**********************************
*
*LOAD 15 IN P96
*
*MASK INPUT
*
*D10, D11, D12, D13
*
**********************************

11-14 CleverAx
 P73.32 MOVE WORD
LD 73.32
15
MOVW P96
P96
15
**********************************
*
*LOAD 240 IN P97
*
*MASK INPUT
*
*D14, D15, D16, D17
*
********************************** MOVE WORD
LD 73.32 P73.32
240
MOVW P97 P97
240

**********************************
*LOAD 768 IN P98
**********************************
LD 73.32 P73.32 MOVE WORD
768
MOVW P98
P98
768

**********************************
*SET SWITCH BIT
********************************** P73.32 SET
LD P73.32 P54.6
SET P54.6
P73.32 SET
LD P73.32
P32.27
SET P32.27
RESET
P73.32
LD P73.32 P32.3
RES P32.3
SETUP_OK
|SETUP_OK
**********************************
*
*CleverAx OK
*
********************************** P73.32 P50.19
LD P73.32 P32.16
AND P50.19
OUT P32.16
**********************************
*THUMBWHEEL SWITCH DECODER
*
*READING FIRST NUMBER
*P91 = (P50 AND P96)
*P99 = 100000
*P91 = P91*P99
**********************************
P50.16 AND WORD
LD P50.16
P96 AND P50
ANDW P91, P96, P50
= P91
LD P50.16
P50.16 MOVE WORD
MOVW P99
100000
100000
P99
LD P50.16
P50.16 MULTIPLY
MULW P91, P91, P99
WORD
P91*P99 = P91
**********************************
*READING SECOND NUMBER
*
*P92 = (P50 AND P96)
*
*P99 = 1000000
*P92 = P92*P99
**********************************

CleverAx 11-15
 P50.17 AND WORD
LD P50.17
P96 AND P50
ANDW P92, P96, P50
= P92
LD P50.17 P50.17 MOVE WORD
MOVW P99 1000000
1000000 P99
P50.17 MULTIPLY
LD P50.17
WORD
MULW P92, P92, P99
P92*P99 = P92
**********************************
*READING THIRD NUMBER
*P93 = (P50 AND 097) >>4
*P99 = 10000000
*P93 = P93*P99
********************************** AND WORD
LD P50.16 P50.16
P97 AND P50
ANDW P93, P97, P50
= P93
LD P50.16 P50.16 DIVIDE WORD
DIVW P93, P93, P90 P93 : P90 = P93

LD P50.16 MOVE WORD

P50.16
MOVW P99 10000000
10000000 P99
LD P50.16 P50.16 MULTIPLY
MULW P93, P93, P99 WORD
********************************** P93 * P99 = P93
*READING FOURTH NUMBER
*P94 = (P50 AND P97) >>4
*P99 = 100000000
*P94 = P94*P99
**********************************
P50.17 AND WORD
LD P50.17
P97 AND P50
ANDW P94, P97, P50
= P94
LD P50.17 P50.17 DIVIDE WORD
DIVW P94, P94, P90 P94 : P90 = P94

LD P50.17
P50.17 MOVE WORD
MOVW P99
100000000
100000000
P99
LD P50.17 P50.17 MULTIPLY
MULW P94, P94, P99 WORD
********************************** P94 * P99 = P94
*READING FIFTH NUMBER
*P95 = (P50 AND P98) >>8
*P99 = 1000000000
*P95 = P95*P99
**********************************
LD P73.32 P73.32 AND WORD
ANDW P95, P98, P50 P98 AND P50
= P95
LD P73.32
DIVW P95, P95, P89 P73.32 DIVIDE WORD
P95 : P89 = P95
LD P73.32
MOVW P99 P73.32 MOVE WORD
1000000000 1000000000
P99
LD P73.32
MULW P95, P95, P99 P73.32 MULTIPLY
WORD
LD P73.32 P95 * P99 = P95
RSHW P88, P88 SHIFT RIGHT
P73.36
WORD
LDN P88.2 P88 = >
JUMP NO_COMPUTO P88.2
JUMP
NO_COMPUTO

11-16 CleverAx
**********************************
*COMPUTING RATIO
*IF (TIMER P64 = 0)
*{
*P11 = P87
*}
*P86 = P87 P86 IS P87 (T-1)
*P87 = 0
*P87 = P87+P91
*P87 = P87+P92
*P87 = P87+P93
*P87 = P87+P94
*P87 = P87+P95
**********************************
P73.1 ADD WORD
LD P73.1
P85 + P87 = P11
ANDW P11, P85, P87

P88.2 ADD WORD

LD P88.2 P87 + P85 =
ADDW P86, P87, P85 P86

LD P88.2 P88.2 MOVE WORD

0
MOVW P87
0 P87

LD P88.2
LD P88.2
LD P88.2
LD P88.2
LD P88.2
P88.2 ADD WORD
ADDW P87, P87, P91 P87 + P91
= P87
ADDW P87, P87, P92 ADD WORD
P87 + P92
= P87
ADD WORD
ADDW P87, P87, P93 P87 + P93
= P87
ADD WORD
ADDW P87, P87, P94 P87 + P94
= 987
ADD WORD
ADDW P87, P87, P95 P87 + P95
********************************** = P87
*IF (P86<>P87)
*{
*P64 = 12000
*}
**********************************
P73.32 SUBTRACT
LD P73.32
WORD
SUBW P99, P86, P87
P86 - P87 = P99

P73.32 MOVE WORD

LDN P73.16 12000
MOVW P64 P64
12000

**********************************
NO_COMPUTO
********************************** MOVE WORD
LD P88.2 P88.2
65536
MOVW P88 P88
65536

CleverAx 11-17
LD P88.9 Multiplexing P88.9
P54.1
OR P88.8 output to enable P88.8
OR P88.7 thumbwheel switch
OUT P54.1 P88.7

LD P88.6 P88.6
P54.2
OR P88.5 P88.5
OR P88.4
OUT P54.2 P88.4

LD P73.32 P88.9
P54.1
OUT P54.3

**********************************
*
*Enable/disable D. lock
*
********************************** SET
LD P50.11 P50.11
P32.27
SET P32.2
RESET
LDN P50.11 P50.11
/P32.27
RES P32.2

**********************************
*
*Enable space auto phase
*
********************************** SET
LDN P50.18 P50.18
P32.27
SET P32.27
RESET
LD P50.18 P50.18
P32.27
RES P32.27

**********************************
*
*Enable S ramp
*
**********************************
P50.15
LD P50.15 P32.19
OUT P32.19

**********************************
*
*Slave speed after D.lock disable
*
**********************************
P32.2 P51.2 ADD WORD
LDN P32.2
P85 + P84 = P3
ANDN P51.2
ADDW P3, P85, P84

LD P32.2 P32.2
P51.2
OUT P51.2
**********************************
*
*Slave speed selector
*
********************************** ADD WORD
LD P50.12 P50.12
P83 + P85 = P84
ADDW P84, P83, P85
P50.12 ADD WORD
LDN P50.12 P85 + P85 = P84
ADDW P84, P85, P85

11-18 CleverAx
**********************************
*
*Slave SPACE OFFSET
*
********************************** ADD WORD
LD P50.13 P30.13
P85 + P82 = P7
ADDW P7, P85, P82

LD P50.14 P50.14 ADD WORD

SUBW P7, P85, P82 P85 - P82 = P7

LDN P50.13 P50.13 P50.14 ADD WORD

ANDN P50.14 P85 + P85 = P7
ADDW P7, P85, P85

**********************************
*
*Digital lock phased
*
**********************************
LD P31.12 P31.12
P54.7
OUT P54.7

**********************************
*
*Maximum following error
*
**********************************
LD P31.1 P31.1
P54.8
OUT P54.8
END
END

11.3 Digital lock using the Outputs

serial link CDO 0
This application produces digital lock between two Sending data to the slave Drive.
DigitAx Drives. This output is at logic 1 when the CleverAx card
is sending data to the slave Drive.
The management of the information is obtained
using a serial link between the CleverAx card and the CDO 1
two DigitAx Drives.
Receiving data from the master Drive.
This program is an example of programming and
management of the serial link. The program can be This output is at logic 1 when the CleverAx card
used in certain applications. is receiving data from the master Drive.

CDO 2
Inputs
This output goes to logic 1 when a time-out error
CDI 0 occurs when sending data to the slave Drive.
Time-out error occurs when data transmission
Apply logic 0 to enable digital lock. is longer then 300msec.
The CleverAx card sends the speed read from
the master Drive to the slave Drive. The CDO 3
programmed ratio is applied.
This output goes to logic 1 when a time-out error
occurs when receiving data to the master Drive.
Time-out error occurs when data transmission
is longer than 300msec.

CleverAx 11-19
Application description 7. Load Pr64 (Down-timer counter) of the Drive
with a value of 500 cycles. (This gives a
duration of 250msec.)
Serial link
8. Set the Slave Drive address (2) at
CleverAx has two serial communications channels as
H4A = 30303131
follows:
(where H4A is Pr74 in hexadecimal)
RS232 interface 9. Set parameter Pr75 at 0 in order to send the
Used for programming, writing application motor speed to the slave Drive.
programs and communicating with a keypad or
microterminal. 10. Set parameter Pr78 at 1 (Start reading).

11. The program now performs a scan of the values

RS485
of Pr78 and Pr64.
Pr64 If the data transmission is
Standard serial link used in industrial complete (Pr78
Pr78 = 4) before the time limit set in
applications. Pr64,
Pr64 output CD0 2 will remain at logic 0. If
A high-level translator in the CleverAx software the data is not transmitted in this time, output
ensures that the protocol management is CD0 2 will go to logic 1.
transparent to the user.
12. Repeat the program at step 1.
Application
Load and execute the program
Note
An MS DOS compatible development program (Cdt
Two DigitAx Drives are used in this CleverAx development tools) is supplied with the
application. With a small amount of CleverAx card. Refer to the relevant
modification, Vector Drives may be used. documentation.
In the DigitAx Drive, the motor speed is set 1. At the DOS prompt, type: CDT.
in parameter Pr59.
2. Press F2.
In the Vector Drive, the motor speed is set
in parameter Pr70. 3. Select the fileLINK.LDG.

4. Press the Enter key.

Use the following procedure:

1. Load Pr64 (Down-timer counter) of the Drive 5. The file LINK.LDG is displayed in Windows
with a value of 500 cycles. (This gives a Notepad.
duration of 250msec.) 6. Press F6 to start the compiler.
2. Set the master Drive address (2) at 7. At the prompt Downloading file Y/N? press Y .
H4A = 30303232
(where H4A is Pr74 in hexadecimal) 8. When loading has finished press F5 followed by
F4.
3. Set parameter Pr75 at 59 in order to read the
motor speed. 9. Check that P73.32 = 0 and P32.16 = 0.

4. Set parameter Pr78 at 4 to start reading the 10. Set P73.10 at 1 (Autostart flag).
motor speed.
11. Set P73.12 at 1 (Save parameters).
5. The program now performs a scan of the values
of Pr78 and Pr64.
Pr64 If the data reception is 12. Wait until both red LEDs become unlit.
complete (Pr78
Pr78 = 6) before the time limit set in 13. Set P73.28 at 1 (Save program).
Pr64,
Pr64 output CD0 3 will remain at logic 0. If
the data is not received in this time, output 14. Wait until both red LEDs become unlit.
CD0 3 will go to logic 1.
15. You may now remove power from the card.
6. When input CDI 0 is at logic 1, no other When power is next applied, the application will
operation will occur. When input CDI 0 is at be automatically loaded from memory and run.
logic 0, the program computes the speed (Pr76
Pr76
× ratio) to send to the slave Drive.

11-20 CleverAx
 Non inverting reference CDO 0 Sending data

Inverting reference CDO 1 Receiving data

AUX analog output non inv CDO 2 Time out writing error

AUX analog output invert CDO 3 Time out reading error

Ground CDO 4

Analog input 0 non invert CDO 5 Drive enable

Analog input 0 invert CDO 6 Phased

Analog input 1 non invert CDO 7 Emergency

Analog input 1 invert Ground

RLB +24V

RLA CDI 0 Enable digital lock

RX CDI 1

RX CDI 2

TX CDI 3

TX CDI 4

+5V CDI 5

Ground CDI 6

+PhA2 Master encoder CDI 7

-PhA2 Master encoder CDI 8

+PhB2 Master encoder CDI 9

-PhB2 Master encoder CDI 10

+PhC2 Master encoder CDI 11

-PhC2 Master encoder CDI 12

+5V CDI 13

Ground CDI 14

+PhA1 Slave encoder CDI 15

-PhA1 Slave encoder CDI 16

+PhB1 Slave encoder CDI 17

-PhB1 Slave encoder CDI 18

+PhC1 Slave encoder Ground

-PhC1 Slave encoder Fault

+24V Ground

Side A Side C

Figure 11–8 Connections to the CleverAx card for digital lock using the serial link

CleverAx 11-21
**********************************
*Digital speed lock using the serial link
*Author: Control Techniques Soprel
*Date: 15 December 1993
**********************************
P98.31 JUMP
LD P98.31 NO_SET
JUMP NO_SET

LD P73.32 P73.32 Move word

LD P73.32 262144
LD P73.32 P103
LD P73.32
Move word
262143
MOVW P103 MASK RIGHT SHIFT 18
P106
262144
Move word
MOVW P106 MASK HEX 3FFFF 256
262143 P108

MOVW P108 MASK LEFT SHIFT 8 Move word

256 102
P110
MOVW P110 RATIO INT(RATIO*1024)
102 0.1*1024 = 102
P73.32
LD P73.32 P98.31
OUT P98.31
No_SET
|NO_SET

**********************************
*
*MAIN LOOP PROGRAM
*
*
**********************************
**********************************
*
*READ MASTER SPEED
*
*
**********************************
P98.32 P98.7 P98.9 JUMP
LDN P98.32
RX_MASTER_SPEED
ANDN P98.7
ANDN P98.9
JUMP RX_MASTER_SPEED

LD P50.1 P50.1 JUMP

JUMP NO_TX_SLAVE_SPEED NO_TX_MASTER_SPEED

**********************************
*WRITE SLAVE SPEED
********************************** JUMP
LD P98.32 P98.32 P98.7 P98.9
TX_SLAVE_SPEED
ANDN P98.7
ANDN P98.9
JUMP TX_SLAVE_SPEED

|NO_TX_SLAVE_SPEED
NO_TX_SLAVE_SPEED
**********************************
*RX AKNOWLDGE
**********************************

11-22 CleverAx
**********************************
*RX AKNOWLDGE
**********************************
LD P98.7 P98.7
/P54.1
LD P98.7
LD P98.7
OUTN P54.1 P54.2
OUT P54.2 JUMP
JUMP RX_OK RX_OK
**********************************
*TX AKNOWLDGE
**********************************
P98.9
LD P98.9 /P54.2
LD P98.9
LD P98.9
P54.1
OUNT P54.2
OUT P54.1 JUMP
JUMP TX_OK TX_OK

END END
**********************************
*END MAIN LOOP PROGRAM
**********************************

**********************************
*READ MASTER SPEED
**********************************
|RX_MASTER_SPEED RX_MASTER_SPEED

LD P73.32 P73.32 MOVE WORD

MOVW P74 SET DRIVE ADDRESS 2 808464946
808464946 (HEX 30303232) P74

LD P73.32 P75 = 59 59 IS P73.32 MOVE WORD

MOVW P75 DIGITAX SPEED 59
59 _ PARAMETER P75

P73.32 MOVE WORD

LD P73.32 P78 = 4 START READ
4
MOVW P78 PARAMETER
P78
4
P73.32 MOVE WORD
LD P73.32 PRESET TIMER FOR
200
MOVW P64 TIME OUT 2 P64
200
P73.32 SET
LD P73.32 P98.7
SET P98.7
P73.32 RESET
LD P73.32 P98.10
RES P98.10

LD P73.32 P73.32
P98.32
OUT P98.32
END
END

CleverAx 11-23
**********************************
*WRITE SLAVE SPEED
**********************************
|TX_SLAVE_SPEED TX_SLAVE_SPEED
LD P73.32 P102 = (P76*256)
MULW P102 P108 P76 P73.32 MULTIPLY WORD
P108*P76 =
P102
LD P73.32 P102 = P102*RATIO MULTIPLY WORD
P73.32
MULW P102 P102 P110 P102*P110 =
P102
LD P73.32 P102 = P102+DECIMAL PART P73.32 ADD WORD
ADDW P102 P102 P105 P102+P105 =
P102

LD P73.32 P73.32 ADD WORD

ANDW P105 P102 P106 P105 = P102 AND H3FFFF P102+P106 =
_ P105

P73.32 DIVIDE WORD

LD P73.32 P76 = P102/262144 P102 / P103 =
DIVW P76 P102 P103 P76

P73.32 MOVE WORD

LD P73.32 SET DRIVE ADDRESS 1 80846489
MOVW P74 (HEX 30303131) P74
808464689
P73.32 MOVE WORD
LD P73.32 P75 = 0 IS DIGITAX
0
MOVW P75 DIGITAL SPEED PARAMETER
P75
0
P73.32 MOVE WORD
LD P73.3 P78 = 1 START WRITE
1
MOVW P78 PARAMETER
P78
1
P73.32 MOVE WORD
LD P73.32 PRESET TIMER FOR
200
MOVW P64 TIMEOUT P64
200
P73.32 SET
LD P73.32 P98.9
SET P98.9
P73.32 RESET
LD P73.32 P98.10
RES P98.10

LD P73.32 P73.32
/P98.32
OUTN P98.32

END
END

11-24 CleverAx
**********************************
*TEST FOR DRIVE AKNOWDGE DURING TX
**********************************
|TX_OK TX_0K
LD P78.1 IF P78 = 3
P78.1 P78.2 P78.3 P78.4
AND P78.2 P98.10
ANDN P78.3
ANDN P78.4
OUT P98.10

P73.1 RESET
LD P73.1 IF TIMER P64 = 0 P98.9
OR P98.10 OR P78 = 3
RES P98.9 P98.10

P98.9 P98.10 SET

LDN P98.9 TEST TIME OUT P54.3
ANDN P98.10
SET P54.3

END
END

**********************************
*TEST FOR DRIVE AKNOWDGE DURING RX
**********************************
|RX_OK
RX_0K

LDN P78.1 IF P78 = 6 P78.1 P78.2 P78.3 P78.4

P98.10
AND P78.2
AND P78.3
ANDN P78.4
OUT P98.10
P73.1 RESET
LD P73.1 IF TIMER P64 = 0 P98.7
OR P98.10 OR P78 = 6
RES P98.7
P98.10

P98.7 P98.10 SET

LDN P98.7 TEST TIMEOUT P54.4
ANDN P98.10
SET P54.4

END
END

CleverAx 11-25